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Preheat the oven to 350°F. Coat a 9-inch pie plate with nonstick baking spray. In a large bowl, combine the graham cracker crumbs, butter, and sugar; mix well. Press the graham cracker mixture over the bottom and up the sides of the pie plate to form a crust; set aside.

In a medium bowl, with an electric beater on medium speed, beat the egg yolks and lime zest for 5 minutes, until fluffy. Gradually add the sweetened condensed milk and continue beating for 3 to 4 minutes. Reduce the speed to low and gradually beat in the lime juice just until combined. Pour the filling into the pie crust.

Bake for 10 minutes, or until firm in the center. Remove from the oven and let cool on a wire rack. Then cover and chill for at least 2 hours before serving.

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Notes

If you can't find fresh Key Limes or Key Lime juice, it's okay to substitute regular limes, even though it won't come out exactly the same.
This is best served very cold, so I recommend putting it in the freezer for 15 to 20 minutes before serving.
Go ahead and top it with whipped cream or whipped topping and garnish with additional grated lime zest or lime slices, if desired.